distance result More...

#include <collision_data.h>

Inheritance diagram for coal::DistanceResult:

Public Member Functions
void	clear ()
	clear the result More...

	DistanceResult (CoalScalar min_distance_=(std::numeric_limits< CoalScalar >::max)())

bool	operator== (const DistanceResult &other) const
	whether two DistanceResult are the same or not More...

void	update (CoalScalar distance, const CollisionGeometry o1_, const CollisionGeometry o2_, int b1_, int b2_)
	add distance information into the result More...

void	update (CoalScalar distance, const CollisionGeometry o1_, const CollisionGeometry o2_, int b1_, int b2_, const Vec3s &p1, const Vec3s &p2, const Vec3s &normal_)
	add distance information into the result More...

void	update (const DistanceResult &other_result)
	add distance information into the result More...

Public Member Functions inherited from coal::QueryResult
	QueryResult ()

Public Attributes
int	b1
	information about the nearest point in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell More...

int	b2
	information about the nearest point in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell More...

CoalScalar	min_distance
	minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0. More...

std::array< Vec3s, 2 >	nearest_points
	nearest points. See CollisionResult::nearest_points. More...

Vec3s	normal
	normal. More...

const CollisionGeometry *	o1
	collision object 1 More...

const CollisionGeometry *	o2
	collision object 2 More...

Public Attributes inherited from coal::QueryResult
Vec3s	cached_gjk_guess
	stores the last GJK ray when relevant. More...

support_func_guess_t	cached_support_func_guess
	stores the last support function vertex index, when relevant. More...

CPUTimes	timings
	timings for the given request More...

Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information More...

Detailed Description

distance result

Definition at line 1051 of file coal/collision_data.h.

Constructor & Destructor Documentation

◆ DistanceResult()

coal::DistanceResult::DistanceResult ( CoalScalar min_distance_ = (std::numeric_limits<CoalScalar>::max)() )

inline

Definition at line 1088 of file coal/collision_data.h.

Member Function Documentation

◆ clear()

void coal::DistanceResult::clear ( )

inline

clear the result

Definition at line 1139 of file coal/collision_data.h.

◆ operator==()

bool coal::DistanceResult::operator== ( const DistanceResult & other ) const

inline

whether two DistanceResult are the same or not

Definition at line 1152 of file coal/collision_data.h.

◆ update() [1/3]

void coal::DistanceResult::update	(	CoalScalar	distance,
		const CollisionGeometry *	o1_,
		const CollisionGeometry *	o2_,
		int	b1_,
		int	b2_
	)

inline

add distance information into the result

Definition at line 1097 of file coal/collision_data.h.

◆ update() [2/3]

void coal::DistanceResult::update	(	CoalScalar	distance,
		const CollisionGeometry *	o1_,
		const CollisionGeometry *	o2_,
		int	b1_,
		int	b2_,
		const Vec3s &	p1,
		const Vec3s &	p2,
		const Vec3s &	normal_
	)

inline

add distance information into the result

Definition at line 1109 of file coal/collision_data.h.

◆ update() [3/3]

void coal::DistanceResult::update ( const DistanceResult & other_result )

inline

add distance information into the result

Definition at line 1125 of file coal/collision_data.h.

Member Data Documentation

◆ b1

int coal::DistanceResult::b1

information about the nearest point in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell

Definition at line 1077 of file coal/collision_data.h.

◆ b2

int coal::DistanceResult::b2

information about the nearest point in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell

Definition at line 1083 of file coal/collision_data.h.

◆ min_distance

CoalScalar coal::DistanceResult::min_distance

minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0.

Note: The nearest points are the points of the shapes that achieve a distance of DistanceResult::min_distance.

Definition at line 1058 of file coal/collision_data.h.

◆ nearest_points

std::array<Vec3s, 2> coal::DistanceResult::nearest_points

nearest points. See CollisionResult::nearest_points.

Definition at line 1065 of file coal/collision_data.h.

◆ NONE

const int coal::DistanceResult::NONE = -1

static

invalid contact primitive information

Definition at line 1086 of file coal/collision_data.h.

◆ normal

Vec3s coal::DistanceResult::normal

normal.

Definition at line 1061 of file coal/collision_data.h.

◆ o1

const CollisionGeometry* coal::DistanceResult::o1

collision object 1

Definition at line 1068 of file coal/collision_data.h.

◆ o2

const CollisionGeometry* coal::DistanceResult::o2

collision object 2

Definition at line 1071 of file coal/collision_data.h.

The documentation for this struct was generated from the following file:

coal/collision_data.h

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DistanceResult()

Member Function Documentation

◆ clear()

◆ operator==()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ b1

◆ b2

◆ min_distance

◆ nearest_points

◆ NONE

◆ normal

◆ o1

◆ o2